Skip to content

STARPIPChannel.request_x_pos: send C0 RX via left_x_arm #1012

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
BioCam merged 1 commit into from
Apr 27, 2026
Merged

STARPIPChannel.request_x_pos: send C0 RX via left_x_arm #1012

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 6 additions & 9 deletions pylabrobot/hamilton/liquid_handlers/star/pip_channel.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -334,20 +334,17 @@ async def move_tool_z(self, z: float):
zj=f"{round(z * 10):04}",
)

# -- C0:RA request X position ------------------------------------------------

# -- delegate to left_x_arm (C0 RX) — channels share the X carriage ----------
# TODO: we assume `C0RX` references the center of the x-arm, figure out what it
# references for half-arms (see issue 822 and new Fluid Motion STAR)

async def request_x_pos(self) -> float:
"""Request current X-position of this channel (mm).

All PIP channels share the same X arm, so this returns the arm position.
"""
resp = await self.driver.send_command(
module="C0",
command="RA",
fmt="ra#####",
pn=f"{self.index + 1:02}",
)
return float(resp["ra"] / 10)
assert self.driver.left_x_arm is not None, "left_x_arm not set; call driver.setup() first"
return await self.driver.left_x_arm.request_position()

# -- C0:RB request Y position ------------------------------------------------

Expand Down
Loading